EP1936784B1 - Device for coiling stators of electric motors - Google Patents

Abstract

The device has a coiling bar (34) sliding in a longitudinal axis (z) and a winding needle (38) protruding from the coiling bar at right angle to the longitudinal axis in a sliding direction (x). The coiling bar and a control bar (50) are actively connected with a drive unit (16) for program controlled axial sliding of the coiling bar and the control bar in the longitudinal axis. The coiling bar and the control bar are actively connected with winding needle for implementing a program controlled pivoting movement around axis of the coiling bar.

Description

Technical area

The invention relates to a device for automatically winding coils in grooves of a stator of an electric machine, having a winding rod axially displaceable in a longitudinal axis, a projecting from the winding rod perpendicular to the longitudinal axis in a direction of displacement winding needle and an annular clamping device of a stator with lying in the longitudinal axis recording axis.

State of the art

Electric motors with single-phase or three-phase winding for AC or three-phase operation or controllable DC motors are today used in large quantities as drives or in devices such as fans, cooling units, etc. With regard to their design, a distinction is made between internal rotor and external rotor motors.

The winding of the stator of an internal rotor motor takes place today mainly after the winding / insert process. This is a retraction process in which the corresponding field coils are wound into a so-called pull-in tool on a first station and all coils are simultaneously pulled into the grooves of the insulated stator packet on a second station.

• Nach dem Einziehen der Spulen in das Statorpaket müssen die Wickelköpfe auf einer separaten Station geformt und gepresst werden.
• Auf einer weiteren Maschine müssen die Wickelköpfe fixiert, d.h. mit einem Faden automatisch oder manuell abgebunden werden.
• An den Spulenenden müssen Litzen für das Weiterschalten der Wicklung befestigt werden, was meistens manuell durchgeführt werden muss.

However, the retraction method has the following disadvantages:

• After retraction of the coils in the stator, the winding heads must a separate station shaped and pressed.
• On another machine, the windings must be fixed, ie tied with a thread automatically or manually.
• At the ends of the coils, strands have to be fastened for switching the winding, which usually has to be done manually.

In addition, a production by the Einziehverfahren requires high investment costs for machines, winding tools and auxiliary devices, which is not always guaranteed in smaller and medium quantities, the economy.

From the EP-A-1 286 452 a device for winding stators with multiple coils is known. When wrapping the individual pole horns, the wire is wound directly around each pole piece or into adjacent slots via a wire guide which carries out the necessary winding movements. The wire guide is connected to perform a lifting movement with an oscillating winding rod and to perform a first sliding movement with a sliding holder. A second displacement movement is performed by the stator as a rotary movement about a slot pitch via a coupled to the stator switching device.

For winding coils having a coil width of more than one slot pitch, as they are present for example in stators of DC or AC motors, which can be from the EP-A-1 286 452 known device can not be used.

The EP-A-1 467 466 discloses a stator of an electric machine that allows direct winding of the individual field coils even with coil widths of more than one slot pitch. The stator has in a known manner a plurality of rotationally symmetrical arranged to a stator axis, radially inwardly projecting, extending between two end faces of the stator and grooves limiting pole horns. On each end face of the stator, an end plate made of an electrically insulating material is arranged concentrically with the stator axis and projecting axially from the end plate guide webs so that each pole piece a guide bar as a guide for a front side corresponding to a predetermined winding step of a first groove associated with a second groove extending wire of a coil to be wound. The end plate serves on the one hand as insulation against the iron of the stator and on the other hand for fixing the winding.

From the EP-A-1 467 466 is also suitable for automatically winding coils in grooves of a stator equipped with said end plates on which in the EP-A-1 286 452 disclosed winding machine constituting device known. This comprises a wire guide which is connected to a lifting rod which carries out a lifting movement axially in a first direction and to a winding rod which is displaceable in a second direction at right angles to the first direction, and a switching apparatus which is capable of rotational movement about a rotational axis lying in the first direction can be connected to a stator to be wound. The device is further characterized by two wire catching hooks, wherein the longitudinal axes of the wire catching hooks lie in the second direction and the wire catching hooks are displaceable in the first and second direction. The spatial position of the wire catch hooks is adjustable by turning 90 ° about the wire catching hook axis between a first position with a hook plane lying in the first direction and a second position with a hook plane perpendicular to the first direction. The displacement and rotational movement of the wire catch hooks are synchronized with the strokes of the wire guide and the rotational movement of the switching apparatus to carry out the required for laying a wire to coil turns movements of the wire guide and the wire catch.

Presentation of the invention

The invention has for its object to make a device of the type mentioned structurally simple. In addition, the device should allow high winding speeds for all stator sizes.

The invention is defined by the combination of features of claim 1. Preferred embodiments of the invention are the subject of the dependent claims.

For the inventive solution of the problem results in that the winding needle via a displaceably mounted in the interior of the winding rod and coaxial with this in the longitudinal axis Control rod is displaceable in the direction of displacement and the winding rod and the control rod for program-controlled axial displacement of the winding rod and the control rod in the longitudinal axis and optionally the winding needle for executing a program-controlled pivotal movement about the axis of the winding rod with a drive unit are operatively connected.

The invention makes it possible to wind the wires into the respective slot opening of the stator pack by means of an oscillating winding needle, which can be pivoted about the longitudinal axis and can be changed in position during one revolution. The wire is wound over the winding head on the end face of the stator in a superimposed arcuate movement. Support in the following, corresponding to the winding step groove to lay.

Preferably, the tensioning devices of the stator mounts are operatively connected to a program-controlled drive for performing a rotational movement about the pick-up axis, expediently two stator mounts each with a tensioning device being arranged on a turntable and the tensioning devices being operatively connected to a program-controlled drive.

Preferably, the winding needle is slidably mounted on a parallel to the winding rod and operatively connected to the execution of the pivoting movement of the winding needle with the drive unit guide member in the longitudinal axis. In this case, the winding needle may be slidably guided in a longitudinal gap of a pivotally connected to a program-controlled drive and mounted in the drive unit pivot housing.

Conveniently, the drive unit with the pivot housing with a program-controlled drive on a carriage in the longitudinal axis can be moved.

Preferably, the pivot housing at its end remote from the drive unit via support and positioning is supportable and pivotable and preferably connectable to a support device, wherein the pivot housing for carrying out the pivoting movement in the support device with a synchronously connected to the drive unit program-controlled drive is operatively connected.

When the stator mounts are mounted on a turntable, the support device is preferably arranged in the axis of rotation of the turntable.

The winding needle is preferably connected to the control rod via a lever joint.

In a particularly preferred embodiment of the device according to the invention, the winding needle is program-controlled in the plane defined by the longitudinal axis and the displacement direction about the displacement direction is pivotable. The pivot angle is preferably between about ± 30 ° and ± 60 °, in particular at about ± 45 ° symmetrically about the direction of displacement. By this controlled movement of the winding needle is an inevitable laying of the wires at the end of the package, i. It forms a compact winding on both ends of the stator.

The big advantage of this solution is that can be dispensed with the controlled winding needle on any type of winding shapes or other Leitstücken, which is referred to in the art as moldless winding.

• Das direkte Einwickeln der Spulen in die Nuten erfordert weniger Hilfswerkzeuge, d.h. Investitionskosten werden tief gehalten.
• Das direkte Einwickeln der Spulen in die Nuten erfolgt ohne Wickelformen.
• Eine geordnete Drahtverlegung im Bereich der Wickelköpfe ergibt kürzere Wickelköpfe und einen höheren Füllfaktor
• Kürzere Wickelköpfe führen zu einer Ersparnis an Kupferdraht.
• Paralleles Wickeln von mehreren Drähten gleichzeitig ist ebenfalls möglich.
• Kleine bewegte Massen bei allen Statorgrössen erlauben hohe Wickelgeschwindigkeiten.
• Wickelparameter sind für jede Statorgrösse programmierbar.
• Eine exakte Drahtverlegung in den Nuten führt zu einem höheren Füllfaktor.
• Zum Fixieren der Wickelköpfe ist weniger Handarbeit nötig.

The new machine concept with the controlled winding needle has the following advantages:

• The direct wrapping of the coils in the grooves requires less tools, ie investment costs are kept low.
• The direct wrapping of the coils in the grooves takes place without winding forms.
• An orderly wire laying in the area of the winding heads results in shorter windings and a higher filling factor
• Shorter winding heads result in a saving in copper wire.
• Parallel winding of several wires simultaneously is also possible.
• Small moving masses on all stator sizes allow high winding speeds.
• Winding parameters are programmable for each stator size.
• An exact wire routing in the grooves leads to a higher fill factor.
• To fix the winding heads less manual work is necessary.

Short description of the drawing

Fig. 1

eine Schrägsicht auf einen Stator mit Endscheiben;

Fig. 2

eine Seitenansicht einer Anlage zum Wickeln von Statoren;

Fig. 3

eine erste Schrägsicht auf die Anlage von Fig.1;

Fig. 4

eine zweite Schrägsicht auf die Anlage von Fig.1;

Fig. 5

einen Längsschnitt durch einen Teil der Anlage von Fig. 1;

Fig. 6 - 9

eine Seitenansicht eines Wickelnadelhalters mit schwenkbarer Wickelnadel in verschiedenen Wickelpositionen;

Fig. 10 - 15

den Funktionsablauf beim Wickeln eines Stators mit dem Wickelnadelhalter von Fig. 6;

Fig. 16

ein Wickelschema für einen Stator eines Motors mit Dreiphasenwicklung;

Fig. 17

die Form einer einzelnen Drahtwindung.

Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing; this shows schematically in

Fig. 1

an oblique view of a stator with end plates;

Fig. 2

a side view of a system for winding stators;

Fig. 3

a first oblique view of the plant of Fig.1 ;

Fig. 4

a second oblique view of the plant of Fig.1 ;

Fig. 5

a longitudinal section through a part of the plant of Fig. 1 ;

Fig. 6-9

a side view of a winding needle holder with pivoting winding needle in different winding positions;

Fig. 10 - 15

the functional sequence when winding a stator with the winding needle holder of Fig. 6 ;

Fig. 16

a winding diagram for a stator of a motor with three-phase winding;

Fig. 17

the shape of a single wire turn.

Description of exemplary embodiments

An in Fig. 1 shown stator 100 consists essentially of an annular laminated core 102 with this radially inwardly projecting pole horn 104, which are arranged separated by gaps in the form of grooves 106 from each other. The exemplified 18-pole stator 100 is part of an internal rotor motor. The stator 100 is made by laminating identical laminations into a laminated core.

On each end face 108 of the stator 100, an end plate 110 is arranged annular end plate 110 made of an electrically insulating plastic material. From each end plate 110 projecting guide webs 112 arranged concentrically to the stator axis s. The end plates 110 are pressed exactly in position so that each pole piece 104 merges in its axial extension into a guide web 112. The guide webs 112 serve to guide a front side corresponding to a predetermined winding step from a first groove 106 to a second groove 106 extending wire during the winding of a coil. Each guide web 112 has a foot part 114 resting on the end face of each pole piece 104 and adapted to the cross section of the pole horns 104.

One in the FIGS. 2 to 5 shown, a machine frame 12 with horizontal mounting plane 14 having system 10 for winding stators of electric motors comprises as essential machine units, a drive unit 16, a winding unit 18, a feed system 20 with two Statoraufnahmen 22, 23, a Statorpositioniervorrichtung 24 and a support device 26 for the winding unit 18th

The drive unit 16 mounted on a carriage 28 displaceable in a longitudinal axis z contains all elements and NC axes which are required for the movement and synchronization of the winding unit 18.

The winding unit 18 comprises a swivel housing 36 operatively connected to the drive unit 16 and a winding rod 34 operatively connected to the drive unit 16 and slidably mounted in the swivel housing 36 in the longitudinal axis z, at whose free end remote from the drive unit 16 or a plurality of parallel winding needles 38 - also referred to as wire guide nozzles - are fixed. The swivel housing 36 is fixed with its end facing the drive unit 16 on a ring flange 72 operatively connected to the drive unit 16.

From the pivot housing 36 projects in the longitudinal axis z of the winding rod 34 in the extension of a central support pin 42 from. At a radial distance to the central Support pin 42 protrudes parallel to this a driving pin 44 from the pivot housing 36. The support pin 42 and the driving pin 44 lie in the plane defined by the longitudinal axis z of the winding rod 34 and the longitudinal and displacement direction x of the winding needle / n 38 level, which is perpendicular to the horizontal mounting plane 14 in the illustrated system 10.

The winding rod 34 is mounted in its axial direction corresponding to the longitudinal axis z for carrying out a movement oscillating in the longitudinal axis z within the pivot housing 36. In the interior of the winding rod 34 and coaxially mounted to this is a relative to the winding rod 34 in the longitudinal axis z displaceable control rod 50. The control rod 50 is configured as a spindle with a low pitch and operatively connected to the drive unit 16. A longitudinal displacement of the control rod 50 within the winding rod 34 causes a movement of the perpendicular to the longitudinal axis z of the winding rod 34 and the control rod 50 from the longitudinal gap 37 of the pivot housing 36 via a hinged in the interior of the pivot housing 36 to the winding rod 34 and the control rod 50 lever joint outstanding winding needle / n 38 along a direction perpendicular to the longitudinal axis z lying displacement direction x.

The loading system 20 is formed in the illustrated system 10 as a swivel turret or turntable 30 with two at the periphery of the turntable 30 with respect to a rotational axis u diametrically opposed stator receptacles 22, 23 with receiving axes t. During the winding operation of the system 10, the turntable 30 is positioned so that the receiving axes t of the two stator receivers 22, 23 coincide with the longitudinal axis z of the winding rod 34. In this embodiment, while one stator is being wound on one stator 22, in the other stator housing 23, a finished wound stator is exchanged with a stator 100 to be wound.

Between the two Statoraufnahmen 22, 23 in the center of the turntable 30, the support device 26 is freely rotatably mounted. The support device 26 has a central receptacle 46 for the support pin 42 and arranged at a radial distance to this receptacle 48 for the driving pin 44. The recordings 46, 48 are as Holes on a toothed belt drive 76 about the axis of the central receptacle 46 rotatable wheel disc. The drive 76 is synchronized with the drive unit 16.

Each stator mount 22, 23 has a rotatably mounted clamping device 60 for fixing the stator 100 in the clamping device 60. Next is a program-controlled drive for positioning the stator 100 in a winding provided for a first coil first winding position and to perform a controlled rotational movement of the tensioning device 60 for indexing the fixed in the tensioning device 60 of the stator 22, 23 stator 100 in a respective next winding position to Winding the other coils provided in further pairs of grooves.

The functional sequence for winding a coil into a stator 100 is reproduced below.

The winding wire 116 consisting, for example, of three individual wires is guided by wire coils stored in wire storage containers 64 via an inlet funnel 68 through the control rod 50 designed as a hollow shaft to the three winding needles 38.

A stator 100 with end-side end disks 110 is clamped at its outside diameter into the tensioning device 60 of one of the stator receptacles 22, 23. The positioning and indexing of the stator 100 relative to the position of the winding needle 38 takes place via a programmable drive 74 assigned to the tensioning device 60.

The carriage 28 with drive unit 16 mounted thereon with the winding unit 18 projecting therefrom in the longitudinal axis z is moved by means of a program-controlled drive in the longitudinal axis z through the stator 100 to be wound, clamped in the tensioning device 60 of the stator receptacle 22 until it engages the central support pin 42 and the driving pin 44 with the arranged in the support device 26 central receptacle 46 and the cam receiver 48 moved. After specifying the dimensions of the stator to be wound 100, the winding needle 38 is brought via the hinged to the winding rod 34 and the control rod 50 lever joint 32 by moving the control rod 50 via a programmable drive 54 in the individually adapted to be wound on the stator 100 winding position. Via a programmable drive 52, the winding rod 34 is moved in the longitudinal axis z by a predetermined length in one direction. In this case, which is provided with a passage opening for the winding wire to be laid free end of the protruding through the longitudinal gap 37 from the pivot housing 36 winding needle 38 via a first groove 106 a from one stator to the other stator side over the free ends of the guide webs 112 addition. After a winding of the winding wire in the groove causing displacement of the winding needle 38 radially outwardly via a programmable drive 56 is a pivotal movement of the pivot housing 36 and thus the winding needle 38 in its movement in the longitudinal axis z leading longitudinal gap 37 for positioning the winding needle 38 in Area of the second groove 106 b. At this point, a displacement of the winding needle 38 takes place radially inward until the winding wire leading free end of the winding needle 38 is positioned over the second groove 106 b. Via the programmable drive 52, the winding rod 34 is moved in the longitudinal axis z by the predetermined length in the opposite direction. The provided with the lead-through opening for the winding wire to be laid, out of the longitudinal gap 37 in the pivot housing 36 free end of the winding needle 38 on the second groove 106 b again on the other side of the stator and over the free ends of the guide webs 112 out. After a further displacement of the winding needle 38 radially outward via the programmable drive 56, a further pivotal movement of the pivot housing 36 back to the positioning of the winding needle 38 in the region of the first groove 106 a. At this point, a displacement of the winding needle 38 is again radially inward until the winding wire leading free end of the winding needle 38 is positioned over the first groove 106 a.

The above-described movement of the winding rod 34 and the winding needle 38 together with the pivotal movement of the pivot housing 36 is repeated until the desired number of turns of the coil of a winding step is reached. In the manner described above, the winding of the remaining takes place Do the washing up.

Instead of a pivoting movement of the pivot housing 36, the relative displacement of the winding needle 38 for positioning the winding wire leading free end of the winding needle 38 via the corresponding groove and the tensioning device 60 associated, programmable drive 74 done.

At one in the Fig. 6 to 9 shown embodiment of a displaceable both in the displacement direction x and in the plane defined by the longitudinal axis z and the displacement direction x at an angle of, for example, about 90 ° symmetrically about the displacement x pivotable winding needle 138 is to move the winding needle 138 in the direction of displacement x provided with the winding rod 34 winding needle holder 80. In the illustrated embodiment, two winding needles 138 are provided for simultaneously winding two diametrically opposed grooves 106 of a stator 100. For the sake of simplicity, only those parts of the winding needles that are responsible for the movement sequence of the upper winding needle 138 in the drawing will be described below, which are arranged symmetrically with respect to the longitudinal axis z.

On the winding needle holder 80, a guide rail 81 is arranged with a displaceably mounted on this slide 82 in the direction of displacement x. The winding needle 138 pivotably hinged to the slider 82 has two hinge points 85, 87 in the area of its pivot point 83. A first lever rod 84 connects a first hinge point 85 to the inside of the winding rod 34 coaxially with this slidably mounted control rod 50. By a programmable displacement of the control rod 50 in the longitudinal axis z of the pivot angle of the winding needle 138 can be set to any value.

A second lever rod 86 connects the second pivot point 87 via a pivotally mounted in a slot guide 98 in the longitudinal axis z connecting joint 97 with a first lever arm 90 of a lever joint system 88. The connecting joint 97 corresponds to the joint of a paired arrangement of the lever rods 86 Toggle. The connecting joint 97 forms the inflection point of the toggle lever formed by the two lever rods 86. By moving the connecting joint 97 in the longitudinal axis z opens or closes the toggle joint and thereby moves the slider 82 and thus the winding needle 138 in the direction of displacement x to the outside or inside. The displacement of the lever rod / n 86 also takes place via a programmable NC axis not shown in detail in the drawing.

The one end of the first lever arm 90 of the lever joint system 88 is connected via a first connecting member 93 to the one end of a guided substantially parallel to the first lever arm 90 second lever arm 92 hinged. The other end of the second lever arm 92 is rigidly connected to the winding needle holder 80. The other end of the first lever arm 90 is connected via a first pivot point 95 to a second connecting member 94. The second connecting member 94 is articulated via a second articulation point 96 on the winding needle holder 80.

The operation of the winding needle holder 80 with the lever joint system 88 will be described below with reference to the in Fig. 6 to 9 illustrated four different winding needle positions explained.

In the in Fig. 6 shown position, the winding needle 138 is displaced with respect to the displacement axis x inwardly and is pivoted relative to the displacement axis x at an angle of about + 45 ° from the control rod 50 away. About the control rod 50 and the lever joint system 88, the slider 82 on the guide rail 81 and thus the hinged thereto winding needle 138 with respect to the displacement axis x is displaced maximally outward ( Fig. 7 ). In a next step, the winding needle 138 is pivoted about the control rod 50 and the first lever rod 84 by an angle of about 90 ° to an angle of about -45 ° with respect to the displacement axis x to the control rod out ( Fig. 8 ). In a further step, the sliding piece 82 on the guide rail 81 and thus the winding needle 138 hinged thereto are displaced maximally inward with respect to the displacement axis x via the lever joint system 88 (FIG. Fig. 9 ).

In the 10 to 15 the functional sequence when inserting a turn of winding wire 116 in the grooves 106 of a stator 100 is shown. The movement of the winding needle 138 leads to the in Fig. 17 shown shape of the inserted winding.

Below is the in the 10 to 15 shown with reference to the above with reference to the Fig. 6 to 9 described positions of the winding needle 138 described.

According to 10 and 11 the insertion of winding wire 116 into two diametrically opposite first grooves 106 a of the stator 100 from one end face A of the stator to the opposite end face B over the free ends of the guide webs 112 out in the in Fig. 6 shown position of the winding needle 138. According to Fig. 12 Now the displacement of the winding needle 138 takes place radially outward ( Fig. 7 ). Subsequently, via the programmable drive 56, a pivoting movement of the pivot housing 36 and thus of the winding needle 38 in its movement in the longitudinal axis z leading longitudinal gap 37 for positioning the winding needle 138 in the region of the second groove 106 b. Instead of a pivoting movement of the pivot housing 36, the positioning of the winding needle 138 over the second groove 106 b can also be done via the programmable drive 74 by a corresponding rotation of the stator 100. According to Fig. 13 Now the winding needle 138 is pivoted to the second position ( Fig. 8 ) and according to Fig. 14 moved radially inwards ( Fig. 9 ). In this position of the winding needle, the insertion of winding wire 116 takes place from the end face B to end face A of the stator 100 in two diametrically opposed grooves 106b. Fig. 15 shows the winding needle 138 after exiting the stator 100 at the end face A in the in Fig. 8 shown position. It follows in an analogous manner as described above, the pivoting of the winding needle 138 in the in Fig. 7 and subsequently in the in Figure 6 shown position. After subsequent pivoting of the pivot housing 36 for positioning the winding needle 138 on the first groove 106a, the insertion of winding wire 116 takes place in the two diametrically opposite first grooves 106 a of the stator 100 from the end face A of the stator to the opposite end B. The process described above Repeats until complete winding.

This in Fig. 16 shown winding diagram for a stator of an electric motor with a concentric winding shows the distribution of 18 coils with 6 large, medium and small turns in the numbered from 1 to 18 grooves corresponding to three different winding steps. Three coils with the winding steps 6-15, 7-14 and 8-13 with corresponding 9, 7 and 5 intermediate pole horns are given by way of example.

Fig. 17 shows the shape of a single, according to the movement of the winding needle 38, 138 in the grooves 106 a, b inserted winding of winding wire 116th

LIST OF REFERENCE NUMBERS

10

investment

12

machine frame

14

horizontal mounting plane

16

drive unit

18

winding unit

20

feeding system

22

first stator recording

23

second stator recording

24

Statorpositioniervorrichtung

26

support device

28

carriage

30

turntable

32

lever joint

34

winding rod

36

swivel case

37

Longitudinal gap in 36

38

winding needle

42

central support pin

44

driver pin

46

central recording for 40

48

driver receptacle

50

control rod

52

Drive for longitudinal displacement of 34

54

Drive for longitudinal displacement of 50

56

Drive for pivoting movement of 36

58

Timing belt drive for 40

60

Clamping device for 22, 23

64

Wire reservoir

66

feed hopper

72

annular flange

74

Drive for 22, 23

78

Drive for 28

80

Winding needle holder

81

guide rail

82

slide

83

pivot point

84

first lever rod

85

first pivot point

86

second lever rod

87

second hinge point

88

Lever linkage system

90

first lever arm

92

second lever arm

93

first link

94

second link

95

first point of articulation

96

second articulation point

97

connecting joint

98

Slot guide

100

stator

102

annular laminated core

104

pole horns

106

groove

108

Front side of 110

110

end disk

112

guide web

114

Foot part of 112

138

Winding needle at 80

s

stator

t

Statoraufnahmeachse

u

Rotation axis of 30

z

longitudinal axis

x

displacement axis

Claims (13)

1. Apparatus for automatically winding coils in slots (106) of a stator (100) of an electrical machine, with a winding bar (34), which is capable of being displaced axially in a longitudinal axis (z), a winding needle (38, 138), which protrudes at right angles with respect to the longitudinal axis (z) in a displacement direction (x) from the winding bar (34), and a ringshaped tensioning apparatus (60) of a stator holder (22, 23) with a holder axis (t) lying in the longitudinal axis (z), characterized in that the winding needle (38, 138) is capable of being displaced in the displacement direction (x) via a control rod (50) mounted displaceably in the interior of the winding bar (34) and coaxially with respect thereto in the longitudinal axis (z), and the winding bar (34) and the control rod (50), for the program-controlled axial displacement of the winding bar (34) and the control rod (50) in the longitudinal axis (z), and the winding needle (38, 138), for implementing a program-controlled pivoting movement about the axis of the winding bar (34), are operatively connected to a drive unit (16).
2. Apparatus according to Claim 1, characterized in that the tensioning apparatuses (60) of the stator holders (22, 23), for implementing a rotational movement about the holder axis (t), are operatively connected to a program-controlled drive (74).
3. Apparatus according to Claim 1 or 2, characterized in that two stator holders (22, 23), each having a tensioning apparatus (60), are arranged on a turntable (30), and the tensioning apparatuses (60) are operatively connected to a program-controlled drive (74).
4. Apparatus according to one of Claims 1 to 3, characterized in that the winding needle (38, 138) is mounted so as to be capable of being displaced in sliding fashion in the longitudinal axis (z) on a guide element (37), which runs parallel to the winding bar (34) and is operatively connected to the drive unit (16) for performing the pivoting movement of the winding needle (38, 138).
5. Apparatus according to Claim 4, characterized in that the winding needle (38, 138) is guided so as to be capable of being displaced in sliding fashion in a longitudinal gap (37) of a pivoting housing (36), which is operatively connected to a program-controlled drive (56) and is mounted in the drive unit (16).
6. Apparatus according to Claim 5, characterized in that the drive unit (16) can be moved with the pivoting housing (36) by a program-controlled drive (78) on a carriage (28) in the longitudinal axis (z).
7. Apparatus according to Claim 5 or 6, characterized in that the pivoting housing (36) is capable of being supported and pivoted at its end remote from the drive unit (16) via supporting and positioning elements (42, 46; 44, 48).
8. Apparatus according to Claim 7, characterized in that the pivoting housing (36) can be connected at its end remote from the drive unit (16) to a supporting apparatus (26).
9. Apparatus according to Claim 8, characterized in that the pivoting housing (36), for implementing the pivoting movement in the supporting apparatus (26), is operatively connected to a program-controlled drive (56), which is switched in synchronism with the drive unit (16).
10. Apparatus according to Claim 8 or 9 and 3, characterized in that the supporting apparatus (26) is arranged in the axis of rotation (u) of the turntable (30).
11. Apparatus according to one of Claims 1 to 10, characterized in that the winding needle (138) can be pivoted, in program-controlled fashion, about the displacement direction (x) in the plane defined by the longitudinal axis (z) and the displacement direction (x).
12. Apparatus according to Claim 11, characterized in that the winding needle (138) can be pivoted at an angle of ±30 to ±60°, preferably approximately ±45°, about the displacement direction (x).
13. Apparatus according to one of Claims 1 to 12, characterized in that the winding needle (38, 138), for displacement in the displacement direction (x), is connected to the control rod (50) via a lever hinge (32; 84, 85).

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